same-tip high-volumes first

Opentrons · Sep 7, 2023 · a36a27e · a36a27e
1 parent 97d7b53
commit a36a27e
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Showing 7 changed files with 25 additions and 22 deletions.
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1461,15 +1461,15 @@ async def _move_to_plunger_bottom(
         # IMPORTANT: Here is our backlash compensation.
         #            The plunger is pre-loaded in the "aspirate" direction
         # NOTE: plunger position (mm) decreases up towards homing switch
-        #if current_pos < target_pos[pip_ax]:
-        #    # move down below "bottom", before moving back up to "bottom"
-        #    backlash_pos = target_pos.copy()
-        #    backlash_pos[pip_ax] += instrument.backlash_distance
-        #    await self._move(
-        #        backlash_pos,
-        #        speed=(speed * rate),
-        #        acquire_lock=acquire_lock,
-        #    )
+        backlash_pos = target_pos.copy()
+        backlash_pos[pip_ax] += instrument.backlash_distance
+        if current_pos < backlash_pos[pip_ax]:
+            # move down below "bottom", before moving back up to "bottom"
+            await self._move(
+               backlash_pos,
+               speed=(speed * rate),
+               acquire_lock=acquire_lock,
+            )
         await self._move(
             target_pos,
             speed=(speed * rate),

diff --git a/hardware-testing/hardware_testing/gravimetric/execute.py b/hardware-testing/hardware_testing/gravimetric/execute.py
@@ -542,12 +542,13 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None:
                         cfg, resources, channel, total_tips
                     )
                     next_tip_location = next_tip.top().move(channel_offset)
-                    _pick_up_tip(
-                        resources.ctx,
-                        resources.pipette,
-                        cfg,
-                        location=next_tip_location,
-                    )
+                    if trial_count == 1:
+                        _pick_up_tip(
+                            resources.ctx,
+                            resources.pipette,
+                            cfg,
+                            location=next_tip_location,
+                        )
                     (
                         actual_aspirate,
                         aspirate_data,
@@ -587,8 +588,9 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None:
                         asp_with_evap,
                         disp_with_evap,
                     )
-                    ui.print_info("dropping tip")
-                    _drop_tip(resources.pipette, cfg.return_tip, _minimum_z_height(cfg))
+
+                ui.print_info("dropping tip")
+                _drop_tip(resources.pipette, cfg.return_tip, _minimum_z_height(cfg))
 
                 ui.print_header(f"{volume} uL channel {channel + 1} CALCULATIONS")
                 aspirate_average, aspirate_cv, aspirate_d = _calculate_stats(

diff --git a/hardware-testing/hardware_testing/gravimetric/helpers.py b/hardware-testing/hardware_testing/gravimetric/helpers.py
@@ -285,7 +285,7 @@ def _get_volumes(ctx: ProtocolContext, cfg: config.VolumetricConfig) -> List[flo
             )
         else:
             raise RuntimeError("you are not the correct branch")
-    return sorted(test_volumes, reverse=False)  # lowest volumes first
+    return sorted(test_volumes, reverse=True)  # lowest volumes first
 
 
 def _load_pipette(

diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py
@@ -242,7 +242,7 @@ def _dispense_with_added_blow_out() -> None:
 
     # CREATE CALLBACKS FOR EACH PHASE
     def _aspirate_on_approach() -> None:
-        pass
+        hw_api.prepare_for_aspirate(hw_mount)
 
     def _aspirate_on_submerge() -> None:
         # TODO: re-implement mixing once we have a real use for it

diff --git a/hardware-testing/hardware_testing/gravimetric/measurement/record.py b/hardware-testing/hardware_testing/gravimetric/measurement/record.py
@@ -327,7 +327,8 @@ def activate(self) -> None:
         #   1) Set profile to USER
         #   2) Set screensaver to NONE
         self._scale.connect()
-        self._scale.initialize()
+        for _ in range(5):
+            self._scale.initialize()
         self._scale.tare(0.0)
         self._scale_serial = self._scale.read_serial_number()
 

diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json
@@ -29,6 +29,6 @@
   "channels": 1,
   "shaftDiameter": 1.0,
   "shaftULperMM": 0.785,
-  "backlashDistance": 0.1,
+  "backlashDistance": 1.0,
   "quirks": []
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json
@@ -29,6 +29,6 @@
   "channels": 1,
   "shaftDiameter": 1.0,
   "shaftULperMM": 0.785,
-  "backlashDistance": 0.1,
+  "backlashDistance": 1.0,
   "quirks": []
 }